Publikation
The ARC-OPT Library for Whole-Body Control of Robotic Systems
Dennis Mronga; Frank Kirchner
In: Journal of Open Source Software (JOSS), Vol. 9, No. 104, Pages *-*, The Open Journal, 2024.
Zusammenfassung
ARC-OPT (Adaptive Robot Control using OPTimization) is a C++ library for Whole-Body
Control (WBC) of complex robotic systems, such as humanoids,
quadrupedal robots, or mobile manipulators.
In general, WBC describes a robot control problem in terms of costs and constraints of a
quadratic program (QP). The cost function thereby minimizes the residuals of multiple feedback
controllers, each dedicated to a specific robot task, along with further objectives. In each
control cycle, the QP is solved and the solution, which should fulfill all objectives if possible, is
sent to the robot’s actuators. WBC is a reactive control approach, which targets redundant
robots and is able to control multiple tasks simultaneously, like, e.g., grasping and balancing
on a humanoid robot
Projekte
- VeryHuman - Komplexes Verhalten Humanoider Roboter Lernen und Verifizieren
- M-RoCK - Modellierung der Mensch-Maschine-Interaktion zur kontinuierlichen Verbesserung des Roboterverhaltens
- CoEx - Entwicklung von Methoden zur Co-Adaptation für die Ermöglichung und Verbesserung von Exoskelett-basiertee (Tele-) Rehabilitation